dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/Group.hpp

@@ -0,0 +1,270 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/dynamics/ReferentialSkeleton.hpp>
+
+#ifndef DART_DYNAMICS_GROUP_HPP_
+  #define DART_DYNAMICS_GROUP_HPP_
+
+namespace dart {
+namespace dynamics {
+
+class Group : public ReferentialSkeleton
+{
+public:
+  /// Create a Group out of a set of BodyNodes. If _includeJoints is true, the
+  /// parent Joint of each BodyNode will also be added to the Group. If
+  /// _includeDofs is true, then the parent DegreesOfFreedom of each BodyNode
+  /// will also be added to the Group.
+  static GroupPtr create(
+      const std::string& _name = "Group",
+      const std::vector<BodyNode*>& _bodyNodes = std::vector<BodyNode*>(),
+      bool _includeJoints = true,
+      bool _includeDofs = true);
+
+  /// Create a Group out of a set of DegreesOfFreedom. If _includeBodyNodes is
+  /// true, then the child BodyNode of each DegreeOfFreedom will also be added
+  /// to the Group. If _includeJoints is true, then the Joint of each
+  /// DegreeOfFreedom will also be added to the Group.
+  static GroupPtr create(
+      const std::string& _name,
+      const std::vector<DegreeOfFreedom*>& _dofs,
+      bool _includeBodyNodes = true,
+      bool _includeJoints = true);
+
+  /// Create a Group that mimics the given MetaSkeleton
+  static GroupPtr create(
+      const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);
+
+  /// Destructor
+  virtual ~Group() = default;
+
+  /// Creates and returns a clone of this Group.
+  GroupPtr cloneGroup() const;
+
+  /// Creates and returns a clone of this Group.
+  GroupPtr cloneGroup(const std::string& cloneName) const;
+
+  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
+  using MetaSkeleton::cloneMetaSkeleton;
+
+  // Documentation inherited
+  MetaSkeletonPtr cloneMetaSkeleton(
+      const std::string& cloneName) const override;
+
+  /// Swap the index of BodyNode _index1 with _index2
+  void swapBodyNodeIndices(std::size_t _index1, std::size_t _index2);
+
+  /// Swap the index of DegreeOfFreedom _index1 with _index2
+  void swapDofIndices(std::size_t _index1, std::size_t _index2);
+
+  /// Add a BodyNode and its parent DegreesOfFreedom to this Group. If _warning
+  /// is true, you will be warned when the BodyNode and all its DegreesOfFreedom
+  /// were already in the Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if the BodyNode and all its
+  /// DegreesOfFreedom were already in the Group.
+  bool addComponent(BodyNode* _bn, bool _warning = true);
+
+  /// Add set of BodyNodes and their parent DegreesOfFreedom to this Group. If
+  /// _warning is true, you will be warned when an entire component was already
+  /// in the Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if all of the components in the set were
+  /// already in this Group.
+  bool addComponents(
+      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
+
+  /// Remove a BodyNode and its parent DegreesOfFreedom from this Group. If
+  /// _warning is true, you will be warned if this Group does not have the
+  /// BodyNode or any of its DegreesOfFreedom, and an assertion will be thrown.
+  ///
+  /// This function will return false if the Group did not include the BodyNode
+  /// or any of its parent DegreesOfFreedom.
+  bool removeComponent(BodyNode* _bn, bool _warning = true);
+
+  /// Remove a set of BodyNodes and their parent DegreesOfFreedom from this
+  /// Group. If _warning is true, you will be warned if any of the components
+  /// were completely missing from this Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if none of the components in this set were
+  /// in the Group.
+  bool removeComponents(
+      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
+
+  /// Add a BodyNode to this Group. If _warning is true, you will be warned when
+  /// you attempt to add the same BodyNode twice, and an assertion will be
+  /// thrown.
+  ///
+  /// This function will return false if the BodyNode was already in the Group.
+  bool addBodyNode(BodyNode* _bn, bool _warning = true);
+
+  /// Add a set of BodyNodes to this Group. If _warning is true, you will be
+  /// warned when you attempt to add a BodyNode that is already in the Group,
+  /// and an assertion will be thrown.
+  ///
+  /// This function will return false if all of the BodyNodes were already in
+  /// the Group.
+  bool addBodyNodes(
+      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
+
+  /// Remove a BodyNode from this Group. If _warning is true, you will be warned
+  /// when you attempt to remove a BodyNode that is not in this Group, and an
+  /// assertion will be thrown.
+  ///
+  /// The function will return false if the BodyNode was not in this Group.
+  bool removeBodyNode(BodyNode* _bn, bool _warning = true);
+
+  /// Remove a set of BodyNodes from this Group. If _warning is true, you will
+  /// be warned when you attempt to remove a BodyNode that is not in this Group,
+  /// and an assertion will be thrown.
+  ///
+  /// The function will return false if none of the BodyNodes were in this
+  /// Group.
+  bool removeBodyNodes(
+      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
+
+  /// Add a Joint to this Group. If _addDofs is true, it will also add all the
+  /// DegreesOfFreedom of the Joint. If _warning is true, you will be warned
+  /// if the Joint (and all its DOFs if _addDofs is set to true) was already in
+  /// the Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if the Joint (and all its DOFs, if
+  /// _addDofs is true) was already in the Group.
+  bool addJoint(Joint* _joint, bool _addDofs = true, bool _warning = true);
+
+  /// Add a set of Joints to this Group. If _addDofs is true, it will also add
+  /// all the DOFs of each Joint. If _warning is true, you will be warned when
+  /// you attempt to add a Joint that is already in the Group (and all its DOFs
+  /// are in the Group, if _addDofs is set to true), and an assertion will be
+  /// thrown.
+  ///
+  /// This function will return false if all the Joints (and their DOFs if
+  /// _addDofs is set to true) were already in the Group.
+  bool addJoints(
+      const std::vector<Joint*>& _joints,
+      bool _addDofs = true,
+      bool _warning = true);
+
+  /// Remove a Joint from this Group. If _removeDofs is true, it will also
+  /// remove any DOFs belonging to this Joint. If _warning is true, you will
+  /// be warned if you attempt to remove a Joint which is not in this Group (and
+  /// none of its DOFs are in the Group if _removeDofs is set to true), and an
+  /// assertion will be thrown.
+  ///
+  /// This function will return false if the Joint was not in the Group (and
+  /// neither were any of its DOFs, if _removeDofs is set to true).
+  bool removeJoint(
+      Joint* _joint, bool _removeDofs = true, bool _warning = true);
+
+  /// Remove a set of Joints from this Group. If _removeDofs is true, it will
+  /// also remove any DOFs belonging to any of the Joints. If _warning is true,
+  /// you will be warned if you attempt to remove a Joint which is not in this
+  /// Group (and none of its DOFs are in the Group if _removeDofs is set to
+  /// true), and an assertion will be thrown.
+  ///
+  /// This function will return false if none of the Joints (nor any of their
+  /// DOFs if _removeDofs is set to true) were in the Group.
+  bool removeJoints(
+      const std::vector<Joint*>& _joints,
+      bool _removeDofs = true,
+      bool _warning = true);
+
+  /// Add a DegreeOfFreedom to this Group. If _addJoint is true, the Joint of
+  /// this DOF will also be added to the Group. If _warning is true, you will be
+  /// warned when you attempt to add the same DegreeOfFreedom twice, and an
+  /// assertion will be thrown.
+  ///
+  /// This function will return false if the DegreeOfFreedom was already in the
+  /// Group.
+  bool addDof(
+      DegreeOfFreedom* _dof, bool _addJoint = true, bool _warning = true);
+
+  /// Add a set of DegreesOfFreedom to this Group. If _addJoint is true, the
+  /// Joint of each DOF will also be added to the Group. If _warning is true,
+  /// you will be warned when you attempt to add the same DegreeOfFreedom twice,
+  /// and an assertion will be thrown.
+  ///
+  /// This function will return false if all of the DegreesOfFreedom was already
+  /// in the Group.
+  bool addDofs(
+      const std::vector<DegreeOfFreedom*>& _dofs,
+      bool _addJoint = true,
+      bool _warning = true);
+
+  /// Remove a DegreeOfFreedom from this Group. If _cleanupJoint is true, the
+  /// Joint of this DOF will be removed, but only if no other DOFs belonging to
+  /// the Joint are remaining in the Group. If _warning is true, you will be
+  /// warned when you attempt to remove a DegreeOfFreedom that is not in this
+  /// Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if the DegreeOfFreedom was not in this
+  /// Group.
+  bool removeDof(
+      DegreeOfFreedom* _dof, bool _cleanupJoint = true, bool _warning = true);
+
+  /// Remove a set of DegreesOfFreedom from this Group. If _cleanupJoint is
+  /// true, the Joint of this DOF will be removed, but only if no other DOFs
+  /// belonging to the Joint are remaining in the Group. If _warning is true,
+  /// you will be warned when you attempt to remove a DegreeOfFreedom that is
+  /// not in this Group, and an assertion will be thrown.
+  ///
+  /// This function will return false if none of the DegreesOfFreedom were in
+  /// this Group.
+  bool removeDofs(
+      const std::vector<DegreeOfFreedom*>& _dofs,
+      bool _cleanupJoint = true,
+      bool _warning = true);
+
+protected:
+  /// Default constructor
+  Group(
+      const std::string& _name,
+      const std::vector<BodyNode*>& _bodyNodes,
+      bool _includeJoints,
+      bool _includeDofs);
+
+  /// Alternative constructor
+  Group(
+      const std::string& _name,
+      const std::vector<DegreeOfFreedom*>& _dofs,
+      bool _includeBodyNodes,
+      bool _includeJoints);
+
+  /// MetaSkeleton-based constructor
+  Group(const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_GROUP_HPP_

include/dart/dynamics/HeightmapShape.hpp

@@ -0,0 +1,195 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
+#define DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// Shape for a height map.
+///
+/// \tparam S_ Data type used for height map. At this point, only double and
+/// float are supported. Short and char can be added at a later point.
+template <typename S_>
+class HeightmapShape : public Shape
+{
+public:
+  using S = S_;
+
+  using Vector3 = Eigen::Matrix<S, 3, 1>;
+  using HeightField
+      = Eigen::Matrix<S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+
+  /// Constructor.
+  HeightmapShape();
+
+  /// Destructor.
+  ~HeightmapShape() override = default;
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// \copydoc Shape::computeInertia()
+  ///
+  /// This base class computes the intertia based on the bounding box.
+  /// Subclasses may choose to provide a more accurate computation of the
+  /// inertia.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  /// Sets scale of this heightmap.
+  /// \param[in] scale Scale of the height map.
+  void setScale(const Vector3& scale);
+
+  /// Returns scale of this heightmap.
+  const Vector3& getScale() const;
+
+  /// Sets the height field.
+  ///
+  /// The data in \e heights will be copied locally. It would be nice to have
+  /// the option to use the values in \e heights directly instead of copying
+  /// them locally to a vector in this class (this would avoid any data being
+  /// kept twice). However some collision engine implementations may require to
+  /// transform the height values, e.g. bullet needs the y values flipped.
+  /// Therefore, a (mutable) copy of the height values passed in \e heights will
+  /// be kept in this class. The copied data can be modified via
+  /// getHeightFieldModifiable() and with flipY().
+  ///
+  /// \param[in] width Width of the field (x axis)
+  /// \param[in] depth Depth of the field (-y axis)
+  /// \param[in] heights The height data of size \e width * \e depth. The
+  /// heights are interpreted as z values, while \e width goes in x direction
+  /// and \e depth in -y (it goes to -y because traditionally images are read
+  /// from top row to bottom row). In the geometry which is to be generated from
+  /// this shape, the min/max height value is also the min/max z value (so if
+  /// the minimum height value is -100, the lowest terrain point will be -100,
+  /// times the z scale to be applied).
+  void setHeightField(
+      const std::size_t& width,
+      const std::size_t& depth,
+      const std::vector<S>& heights);
+
+  /// Sets the height field.
+  ///
+  /// The data in \e heights will be copied locally. It would be nice to have
+  /// the option to use the values in \e heights directly instead of copying
+  /// them locally to a vector in this class (this would avoid any data being
+  /// kept twice). However some collision engine implementations may require to
+  /// transform the height values, e.g. bullet needs the y values flipped.
+  /// Therefore, a (mutable) copy of the height values passed in \e heights will
+  /// be kept in this class. The copied data can be modified via
+  /// getHeightFieldModifiable() and with flipY().
+  ///
+  /// \param[in] heights The height data of size \e width * \e depth where
+  /// number of columns and number of rows are the width of the field (x axis)
+  /// and the depth of the field (-y axis), respectively. The heights are
+  /// interpreted as z values, while \e width goes in x direction and \e depth
+  /// in -y (it goes to -y because traditionally images are read from top row to
+  /// bottom row). In the geometry which is to be generated from this shape, the
+  /// min/max height value is also the min/max z value (so if the minimum height
+  /// value is -100, the lowest terrain point will be -100, times the z scale to
+  /// be applied).
+  void setHeightField(const HeightField& heights);
+
+  /// Returns the height field.
+  const HeightField& getHeightField() const;
+
+  /// Returns the modified height field. See also setHeightField().
+  HeightField& getHeightFieldModifiable() const;
+
+  /// Flips the y values in the height field.
+  void flipY() const;
+
+  /// Returns the width dimension of the height field
+  std::size_t getWidth() const;
+
+  /// Returns the height dimension of the height field
+  std::size_t getDepth() const;
+
+  /// Returns the minimum height set by setHeightField()
+  S getMinHeight() const;
+
+  /// Returns the maximum height set by setHeightField()
+  S getMaxHeight() const;
+
+  /// Set the color of this arrow
+  void notifyColorUpdated(const Eigen::Vector4d& color) override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  /// \copydoc Shape::updateVolume()
+  ///
+  /// This base class provides a simple implementation which returns
+  /// the volume of the bounding box. Subclasses may opt to provide a more
+  /// accurate computation of the volume.
+  void updateVolume() const override;
+
+  /// Computes the bounding box of the height field.
+  /// \param[out] min Mininum of box
+  /// \param[out] max Maxinum of box
+  void computeBoundingBox(Eigen::Vector3d& min, Eigen::Vector3d& max) const;
+
+private:
+  /// Scale of the heightmap
+  Vector3 mScale;
+
+  /// Height field
+  mutable HeightField mHeights;
+
+  /// Minimum heights.
+  /// Is computed each time the height field is set with setHeightField().
+  S mMinHeight;
+
+  /// Maximum heights.
+  /// Is computed each time the height field is set with setHeightField().
+  S mMaxHeight;
+};
+
+using HeightmapShapef = HeightmapShape<float>;
+using HeightmapShaped = HeightmapShape<double>;
+
+} // namespace dynamics
+} // namespace dart
+
+#include <dart/dynamics/detail/HeightmapShape-impl.hpp>
+
+#endif // DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_